DEVICE FOR SAFETY CONTROL OF MACHINE

The invention relates to a device for a safety control a machine (2) having at least one secure object sensor (3) and a secure control and evaluation unit (7), wherein the secure object sensor is usedfor detecting an object (4) and simultaneously monitoring a plurality of sections (5) of a plane (6), and the secure control and evaluation unit is used for evaluating signals of the at least one object sensor (3) and for generating control signals for the machine (2), wherein the control and evaluation unit (7) is configured to calculate at least one trajectory (13) for the machine (2) and to select the calculated trajectory (13), the selected trajectory avoiding the section (5) in which the object (4) is detected and selecting the section (5) in which the object (4) is not detected. 本发明涉及用于安全控制机器(2)的装置，其具有至少个安全的对象传感器(3)和安全的控制和评估单元(7)，该至少个安全的对象传感器用于检测对象(4)并同时监测平面(6)的多个区段(5)，该安全的控制和评估单元用于评估至少个对象传感器(3)的信号并用于为机器(2)生成控制信号，其中，控制和评估单元(7)被构造用于为机器(2)计算至少个轨迹(13)并选择所计算的轨迹(13)，所选择的轨迹避开在其中检测到对象(4)的区段(5)并选择在其中没有检测到对象(4)的区段(5